基于二阶滑模的四旋翼无人机姿态控制算法研究  

Sliding Mode Control for a Quadrotor UAV With Parameter Uncertainties

作　　者：冯建辉 孙世金 赵正平 沈英杰 Feng Jianhui;Sun Shijin;Zhao Zhengping;Shen Yingjie(Yunnan Power Grid Limited Liability Company Nujiang Power Supply Bureau,Nujiang 673100,Yunnan,China)

机构地区：[1]云南电网有限责任公司怒江供电局,云南怒江673100

出　　处：《云南电力技术》2024年第3期42-47,共6页Yunnan Electric Power

摘　　要：在电力系统中,中低压架空线路的装拆接地线是一个关键但具有挑战性的任务,传统人工操作存在较高的安全风险和效率低下的问题。无人机技术的应用显著提高了这一过程的安全性和效率。为保证无人机具备极高的姿态稳定性和精确的控制能力。本文提出了基于二阶滑模控制的四旋翼无人机姿态控制算法。使用二阶滑模控制方法为小型四旋翼无人机(UAV)设计鲁棒的飞行控制器。由于四旋翼无人机UAV的欠驱动特性,飞控可以使四旋翼飞行器移动三个位置并将偏航角调整到所需值,并稳定俯仰角和横滚角。该飞行控制器旨在为四旋翼无人机提供针对模型参数不确定性的鲁棒位置和姿态跟踪控制。仿真表明,所设计的控制器能够稳定地控制四旋翼无人机。In the power system,the installation and removal of grounding wires for medium and low voltage overhead lines is a critical but challenging task,and traditional manual operations pose high safety risks and low efficiency.The application of drone technology has significantly improved the safety and efficiency of this process.To ensure that drones have extremely high attitude stability and precise control capabilities.This article proposes an attitude control algorithm for quadcopter unmanned aerial vehicles based on second-order sliding mode control.Design a robust flight controller for a small quadcopter unmanned aerial vehicle(UAV)using second-order sliding mode control method.Due to the underactuated characteristics of quadcopter unmanned aerial vehicles(UAVs),flight control can enable the quadcopter to move three positions and adjust the yaw angle to the desired value,while stabilizing the pitch and roll angles.This flight controller aims to provide robust position and attitude tracking control for quadcopter drones against model parameter uncertainty.Simulation shows that the designed controller can stably control quadcopter drones..

关 键 词：四旋翼飞行器UAV 二阶滑模控制 鲁棒控制 跟踪控制 

分 类 号：TM74[电气工程—电力系统及自动化]